Journal ArticleDOI
Dynamic Analysis of a Robotic Fish Propelled by Flexible Folding Pectoral Fins
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TLDR
A novel type of folding pectoral fins for the fish robot is proposed, which provides a simple approach in generating effective thrust only through one degree of freedom of fin actuator.Abstract:
Biological fish can create high forward swimming speed due to change of thrust/drag area of pectoral fins between power stroke and recovery stroke in rowing mode. In this paper, we proposed a novel type of folding pectoral fins for the fish robot, which provides a simple approach in generating effective thrust only through one degree of freedom of fin actuator. Its structure consists of two elemental fin panels for each pectoral fin that connects to a hinge base through the flexible joints. The Morison force model is adopted to discover the relationship of the dynamic interaction between fin panels and surrounding fluid. An experimental platform for the robot motion using the pectoral fin with different flexible joints was built to validate the proposed design. The results express that the performance of swimming velocity and turning radius of the robot are enhanced effectively. The forward swimming velocity can reach 0.231 m/s (0.58 BL/s) at the frequency near 0.75 Hz. By comparison, we found an accord between the proposed dynamic model and the experimental behavior of the robot. The attained results can be used to design controllers and optimize performances of the robot propelled by the folding pectoral fins.read more
Citations
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Guidance And Control Of Ocean Vehicles
TL;DR: In this paper, the authors describe how to download and install guidance and control of ocean vehicles in the house, workplace, or perhaps in your method can be all best place within net connections.
Journal ArticleDOI
Tunabot Flex: a tuna-inspired robot with body flexibility improves high-performance swimming
TL;DR: Tunas are designed and tested as a research platform to investigate the role of body flexibility and to close the performance gap between robotic and biological systems, and Tunabot Flex provides a new baseline for the development of future bio-inspired underwater vehicles.
Journal ArticleDOI
Exploration of swimming performance for a biomimetic multi-joint robotic fish with a compliant passive joint.
TL;DR: The results reveal that phase difference plays a primary role in improving efficiency and the compliant joint presents a more significant role in performance improvement when a smaller phase difference is given.
Journal ArticleDOI
Butterflies fly using efficient propulsive clap mechanism owing to flexible wings
L. C. Johansson,Per Henningsson +1 more
TL;DR: In this article, the upstroke and downstroke clapping of a butterfly was investigated and it was shown that flexible butterfly wings dramatically increase the useful impulse and efficiency of the clap compared to rigid wings.
Journal ArticleDOI
Reconfigurable Curved Beams for Selectable Swimming Gaits in an Underwater Robot
TL;DR: In this article, a dynamic model has been developed to model the swimming behavior of a robot using buckling joints, and a design optimization has been carried out, using the Covariance Matrix Adaption Evolution Strategy (CMA-ES), to find the design and gait parameters that maximize the robot's forward swimming speed.
References
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Book
Guidance and Control of Ocean Vehicles
TL;DR: Modeling of Marine Vehicles Environmental Disturbances Stability and Control of Underwater Vehicles Dynamics and Stability of Ships Automatic Control of Ships Control of High-Speed Craft Appendices Bibliography Index as mentioned in this paper
Journal ArticleDOI
Oscillating foils of high propulsive efficiency
TL;DR: In this article, the phase angle between transverse oscillation and angular motion is the critical parameter affecting the interaction of leading-edge and trailing-edge vorticity, as well as the efficiency of propulsion.
Journal ArticleDOI
An Efficient Swimming Machine
Journal ArticleDOI
Flying and swimming animals cruise at a Strouhal number tuned for high power efficiency
TL;DR: Tuning cruise kinematics to optimize St seems to be a general principle of oscillatory lift-based propulsion of swimming and flying animals.
Guidance And Control Of Ocean Vehicles
TL;DR: In this paper, the authors describe how to download and install guidance and control of ocean vehicles in the house, workplace, or perhaps in your method can be all best place within net connections.
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